From cb10f3af73ee826c307c27766629daa48c521bdf Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Wed, 19 Mar 2014 23:26:52 +0100
Subject: [PATCH] Correct signal destruction in rosPublish.
The trigger signal cannot be destroyed.
---
src/ros_publish.cpp | 22 ++++++++++++++++++++--
1 file changed, 20 insertions(+), 2 deletions(-)
diff --git a/src/ros_publish.cpp b/src/ros_publish.cpp
index cef0afa..3bcf22b 100644
--- a/src/ros_publish.cpp
+++ b/src/ros_publish.cpp
@@ -206,10 +206,16 @@ namespace dynamicgraph
if(bindedSignal_.find(signal) == bindedSignal_.end())
return;
+ if(signal == "trigger")
+ {
+ std::cerr << "The trigger signal should not be removed. Aborting." << std::endl;
+ return;
+ }
+
//lock the mutex to avoid deleting the signal during a call to trigger
while(! mutex_.try_lock() ){}
- bindedSignal_.erase (signal);
signalDeregistration(signal);
+ bindedSignal_.erase (signal);
mutex_.unlock();
}
@@ -226,7 +232,19 @@ namespace dynamicgraph
void RosPublish::clear ()
{
- bindedSignal_.clear ();
+ std::map<std::string, bindedSignal_t>::iterator it = bindedSignal_.begin();
+ for(; it!= bindedSignal_.end(); )
+ {
+ if (it->first != "trigger")
+ {
+ rm(it->first);
+ it = bindedSignal_.begin();
+ }
+ else
+ {
+ ++it;
+ }
+ }
}
int& RosPublish::trigger (int& dummy, int t)
--
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